Siemens SINUMERIK MC Commissioning Manual page 146

Safety functions integrated in the drive
4.10 SLS
Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when
taken into account, prevent the safety limit value being violated.
In order to prevent a safety limit violation by the EPOS setpoint specification, you must transfer
the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS (p2594):
● r9733[0] = p2594[1]
● r9733[1] = p2594[2]
In this regard you must set the delay time for SLS/SOS (p9551), so that the relevant safety
monitoring function only becomes active after the maximum required time for the speed to be
reduced below the limit. This required braking time is determined by the current speed, the jerk
limit in p2574 and the maximum delay in p2573.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p2573
● p2574
● p2593
● p2594[0...2]
● p9551
● r9733[0...2]
146
EPOS maximum delay
EPOS jerk limitation
CI: EPOS LU/revolution LU/mm
CI: EPOS maximum speed, externally limited
SI Motion SLS(SG) switchover/SOS(SBH) delay time (CU)
CO: SI Motion speed setpoint limit active
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB